watonomous.github.io
[ Software Division : W20 Global Mapping Proposal ]
Created by [ Charles Zhang], last modified on Feb 08, 2020
One on one mapping session
No one else had a real plan! Our team is the most put together! (thanks John)
How are addresses going to work:
- Going to get addresses for each route WAY in advance -> can just hardcode using a routing table.
- No grading on UI, link
Creating an E horizon (electronic horizon) - node by node single spline connectivity from A to B
- Bounded ahead by some distance. Only need a lookahead of X km
- For Maps, one option is to prefetch certain roads. Not needed for this competition
- E Horizon -> one line, Branching E horizon -> multiple paths
- GM throws out the HERE map and IDs, creates internal GM ID representation
- Gm does something very similar to stitching -> pre-computing all branching possible lanes, then picking the correct one
Static Route Tables
- For TRC compute all possible routes -> there are only like 3 places we can block off
Rerouting:
- There will be driver metrics on "Will you slow down" if the road is blocked. If you come to a full stop at a green in order to reroute, you will lose driver metric points
Optimum routing is for the entire set of destinations, not the individual destinations
- BFS is good. Make branching paths
- Avoid self-loops
Stop Sign / Stop Light Association
- Filter FOV for position to get colour of a stoplight. Gives position and dimension -> use projection matrix
Blockages:
- Most Roads: 5 lanes wide, striped for two lanes. All blockages will be on these two width roads
- Main T intersection: Wide AF
- Orange white, big blockers. If you drive into it, you're gonna break your car
SD/HD map of a culdesac
- HD map roundabout
- Navigation map Culdesacs treat the Culdesac like a linear distance, addressing goes around the culdesac
Stopping the navigation
- Side of the road for an address doesn't matter
- Measure 15m from either side of the road.
Craig's ideas on lane association
- Strategy should be perception verifies maps, not the other way around.
- If perception says to go SHARP RIGHT but the HD map says to go
straight, we should follow the HD map (it won't be THAT wrong)
- Check if perception sees more straight lane lines in the future
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Attachments:
One-on-one with
David Craig, Skillshop, Feb 7
2020.docx
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One-on-one_with_David_Craig_Skillshop_Feb_7_2020.pdf
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Document generated by Confluence on Dec 10, 2021 04:01